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Sonar based navigation of an autonomous underwater vehicle (December 1994)



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Author: Kayirhan, Alp.
Subject: Engineering Science; Electrical Engineering
Publisher: Monterey, California: Naval Postgraduate School;Springfield, Va.: Available from National Technical Information Service
Language: en_US
Call number: o640610729
Digitizing sponsor: Naval Postgraduate School, Dudley Knox Library
Book contributor: Naval Postgraduate School, Dudley Knox Library
Collection: navalpostgraduateschoollibrary; fedlink; americana

Full catalog record: MARCXML

[Open Library icon]This book has an editable web page on Open Library.

Description

Thesis advisor(s): Roberto Cristi

"June 1994."

Thesis (M.S. in Engineering Science (EE)) Naval Postgraduate School, June 1994

Includes bibliographical references

A navigation algorithm to navigate an AUV within a charted environment is presented. The algorithm uses sonar range measurements and incorporates them with a potential function which defines the map of the operation area. Extended Kalman filtering is used in the algorithm. Least squares techniques are used in the estimation of system parameters. The algorithm is tested by both computer generated data and actual data collected from the vehicle NPS AUVII during tests in a water tank. Fixed interval smoothing is applied in order to smooth the estimates produced by the Kalman filter. The effects of currents in the operation area are sought. An approach based on backpropagation neural networks for the navigation algorithm is also presented. Throughout the simulation studies the algorithm yields a robust and reliable solution to the navigation problem of AUV's

Mode of access: World Wide Web

System requirements: Adobe Acrobat Reader

Turkish Navy author


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Format.extent: 86 p.;28 cm.
Identifier.oclc: o640610729
Type: Thesis
Contributor.advisor: Roberto Cristi
Degree.name: M.S. in Engineering Science [EE]
Degree.level: master's
Degree.discipline: Engineering Science;Electrical Engineering
Degree.grantor: Naval Postgraduate School
Description.service: Turkish Navy author.
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